ethz-asl / polygon_coverage_planning

Coverage planning in general polygons with holes.
GNU General Public License v3.0
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Feature/adjacency matrix conditioning #77

Closed rikba closed 2 years ago

rikba commented 2 years ago

Improves adjacency matrix conditioning by scaling the cost according to the problem size. If necessary will enlarge cost as much as possible such that small differences are visible at integer resolution. However, will only increase cost up to upper bound such that GTSP solver does not overflow.

rikba commented 2 years ago

test this please